A method and apparatus for coherent accumulation of a signal, a method and apparatus for signal acquisition

Abstract

The application provides a coherent accumulation method and device of a signal, a signal acquisition method and device, and applies to the technical field of communication. The coherent accumulation method of the signal comprises the following steps: reading to-be-accumulated data according to a parallel starting address; wherein the to-be-accumulated data comprises data obtained after a modulation signal is preprocessed and pseudo-code data; performing parallel accumulation and coherent accumulation on the to-be-accumulated data until the number of coherent accumulations reaches a coherent accumulation setting value and a transform domain input count value reaches a transform domain input setting value, so as to obtain a coherent accumulation result; wherein the transform domain input count value is increased by one every time the number of coherent accumulations reaches the coherent accumulation setting value; judging whether the length of the coherent accumulation result reaches a coherent accumulation setting length; and if the length of the coherent accumulation result reaches the coherent accumulation setting length, updating the parallel starting address. In the above scheme, the flexibility of coherent accumulation of the signal can be improved in different scenarios.

Description

Technical Field

[0001] This application relates to the field of communication technology, and more specifically, to a coherent accumulation method and apparatus for signals, and a signal acquisition method and apparatus. Background Technology

[0002] Satellite navigation signals typically include a carrier wave, pseudocode (e.g., subcarriers), and modulation information (e.g., message or binary code). The modulation information, after being spread by the pseudocode and modulated by the carrier wave, can be transmitted via the navigation satellite's radio frequency and transmitting antenna; the navigation signal then propagates through space to the satellite navigation receiving device.

[0003] Because navigation satellites are relatively far from satellite navigation receivers and are generally in motion, the signal power is significantly weakened and the Doppler effect occurs after the navigation signal reaches the receiver. However, the observations required for satellite navigation applications generally need to accurately obtain the carrier phase and pseudo-code phase. Therefore, typical navigation satellite receivers need to undergo signal processing procedures such as signal acquisition, tracking, and synchronization.

[0004] In existing technologies, the flexibility in the process of capturing navigation signals is relatively poor. Summary of the Invention

[0005] The purpose of this application is to provide a coherent signal accumulation method and apparatus, and a signal acquisition method and apparatus, to solve the technical problem of poor flexibility in the process of acquiring navigation signals in the prior art.

[0006] In a first aspect, embodiments of this application provide a coherent accumulation method for a signal, comprising: reading data to be accumulated according to a parallel start address; wherein the data to be accumulated includes data obtained after preprocessing a modulated signal and pseudocode data; performing parallel accumulation and coherent accumulation on the data to be accumulated until the number of coherent accumulations reaches a coherent accumulation set value and the transform domain input count value reaches a transform domain input set value, thereby obtaining a coherent accumulation result; wherein, whenever the number of coherent accumulations reaches the coherent accumulation set value, the transform domain input count value is incremented by one; determining whether the length of the coherent accumulation result reaches the coherent accumulation set length; if the length of the coherent accumulation result reaches the coherent accumulation set length, updating the parallel start address. In the above scheme, by setting the coherent accumulation setpoint and the change domain input setpoint, the number of coherent accumulations can be counted. Thus, when the number of coherent accumulations reaches the coherent accumulation setpoint and the change domain input count reaches the change domain input setpoint, the corresponding coherent accumulation result can be obtained. At the same time, the length of the coherent accumulation result can be judged, and when the length of the coherent accumulation result reaches the coherent accumulation set length, the parallel start address is updated. This allows for adaptation to different scenarios and improves the flexibility of signal coherent accumulation.

[0007] In an optional implementation, the coherent accumulation setting length is the product of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value; or, the coherent accumulation setting length is the sum of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value. In the above scheme, by adjusting the values ​​of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value, the coherent accumulation length can be flexibly adjusted, enabling configurable and adjustable frequency resolution, thereby improving the flexibility of signal coherent accumulation.

[0008] In an optional implementation, updating the parallel start address includes: if the period of the modulation signal is greater than the period of the pseudocode data, then backtracking a first predetermined phase value based on the coherent accumulation result as the updated parallel start position. In the above scheme, when the period of the modulation signal is greater than the period of the pseudocode data, the parallel start position can be backtracked to ensure the alignment of the coherent start positions of the data and pseudocode each time. Therefore, the coherent accumulation method of the signal provided in this application embodiment can be applied to scenarios with low modulation information rates.

[0009] In an optional implementation, updating the parallel start address includes: if the period of the modulation signal is less than the period of the pseudocode data, then advancing a second predetermined phase value based on the coherent accumulation result as the updated parallel start position. In the above scheme, when the period of the modulation signal is less than the period of the pseudocode data, advancing the parallel start position ensures the alignment of the coherent start positions of the data and pseudocode each time. Therefore, the coherent accumulation method for signals provided in this application embodiment can be applied to scenarios with high modulation information rates.

[0010] In an optional implementation, after updating the parallel start address, the method further includes: performing change-domain processing on the coherent accumulation result to obtain a corresponding processing result; performing incoherent accumulation on the processing result to obtain an incoherent accumulation result; determining whether the length of the incoherent accumulation result reaches the total integration set length; if the length of the incoherent accumulation result does not reach the total integration set length, then reading new data to be accumulated according to the updated parallel start address. In the above scheme, after obtaining the coherent accumulation result, change-domain processing and incoherent accumulation can also be performed on the coherent accumulation result; by determining whether the length of the incoherent accumulation result reaches the total integration set length, it is determined whether accumulation needs to continue.

[0011] Secondly, embodiments of this application provide a signal acquisition method, comprising: acquiring a modulated signal and multiple pseudocode data; performing data preprocessing on the modulated signal to obtain preprocessed data; performing a coherent accumulation method for the signal as described in any one of the first aspects on the preprocessed data and the pseudocode data to obtain a signal acquisition result; and reporting the signal acquisition result. In the above scheme, by setting a coherent accumulation setpoint and a change domain input setpoint, the number of coherent accumulations can be counted, thereby obtaining the corresponding coherent accumulation result when both the number of coherent accumulations reaches the coherent accumulation setpoint and the change domain input count value reaches the change domain input setpoint. Simultaneously, the length of the coherent accumulation result can be determined, and when the length of the coherent accumulation result reaches the coherent accumulation setpoint, the parallel start address is updated, thereby adapting to different scenarios and improving the flexibility in the process of capturing navigation signals.

[0012] Thirdly, embodiments of this application provide a coherent accumulation device for a signal, comprising: a first reading module, configured to read data to be accumulated according to a parallel start address; wherein the data to be accumulated includes data obtained after preprocessing a modulated signal and pseudocode data; a first accumulation module, configured to perform parallel accumulation and coherent accumulation on the data to be accumulated until the number of coherent accumulations reaches a coherent accumulation set value and the transform domain input count value reaches a transform domain input set value, thereby obtaining a coherent accumulation result; wherein, whenever the number of coherent accumulations reaches the coherent accumulation set value, the transform domain input count value is incremented by one; a first judgment module, configured to judge whether the length of the coherent accumulation result reaches the coherent accumulation set length; and an update module, configured to update the parallel start address if the length of the coherent accumulation result reaches the coherent accumulation set length. In the above scheme, by setting the coherent accumulation setpoint and the change domain input setpoint, the number of coherent accumulations can be counted. Thus, when the number of coherent accumulations reaches the coherent accumulation setpoint and the change domain input count reaches the change domain input setpoint, the corresponding coherent accumulation result can be obtained. At the same time, the length of the coherent accumulation result can be judged, and when the length of the coherent accumulation result reaches the coherent accumulation set length, the parallel start address is updated. This allows for adaptation to different scenarios and improves the flexibility of signal coherent accumulation.

[0013] In an optional implementation, the coherent accumulation setting length is the product of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value; or, the coherent accumulation setting length is the sum of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value. In the above scheme, by adjusting the values ​​of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value, the coherent accumulation length can be flexibly adjusted, enabling configurable and adjustable frequency resolution, thereby improving the flexibility of signal coherent accumulation.

[0014] In an optional implementation, the update module is specifically used to: if the period of the modulated signal is greater than the period of the pseudocode data, then backtrack a first predetermined phase value based on the coherent accumulation result as the updated parallel start position. In the above scheme, when the period of the modulated signal is greater than the period of the pseudocode data, the parallel start position can be backtracked to ensure the alignment of the coherent start positions of the data and pseudocode each time. Therefore, the coherent accumulation method of the signal provided in this application embodiment can be applied to scenarios with low modulation information rates.

[0015] In an optional implementation, the update module is specifically used to: if the period of the modulation signal is less than the period of the pseudocode data, advance a second predetermined phase value based on the coherent accumulation result as the updated parallel start position. In the above scheme, when the period of the modulation signal is less than the period of the pseudocode data, the alignment of the coherent start positions of the data and pseudocode can be ensured by advancing the parallel start position each time. Therefore, the coherent accumulation method of the signal provided in this application embodiment can be applied to scenarios with high modulation information rates.

[0016] In an optional implementation, the coherent accumulation device for the signal further includes: a processing module for performing change domain processing on the coherent accumulation result to obtain a corresponding processing result; a second accumulation module for performing incoherent accumulation on the processing result to obtain an incoherent accumulation result; a second judgment module for judging whether the length of the incoherent accumulation result reaches the total integration set length; and a second reading module for reading new data to be accumulated based on the updated parallel start address if the length of the incoherent accumulation result does not reach the total integration set length. In the above scheme, after obtaining the coherent accumulation result, change domain processing and incoherent accumulation can also be performed on the coherent accumulation result; by judging whether the length of the incoherent accumulation result reaches the total integration set length, it is determined whether accumulation needs to continue.

[0017] Fourthly, embodiments of this application provide a signal acquisition device, comprising: an acquisition module for acquiring a modulated signal and multiple pseudocode data; a preprocessing module for preprocessing the modulated signal to obtain preprocessed data; an acquisition module for performing a coherent accumulation method as described in any of the first aspects on the preprocessed data and the pseudocode data to obtain a signal acquisition result; and a reporting module for reporting the signal acquisition result. In the above scheme, by setting a coherent accumulation setpoint and a change domain input setpoint, the number of coherent accumulations can be counted, thereby obtaining the corresponding coherent accumulation result when both the number of coherent accumulations reaches the coherent accumulation setpoint and the change domain input count value reaches the change domain input setpoint. Simultaneously, the length of the coherent accumulation result can be determined, and when the length of the coherent accumulation result reaches the coherent accumulation setpoint, the parallel start address is updated, thus adapting to different scenarios and improving flexibility in the process of capturing navigation signals.

[0018] Fifthly, embodiments of this application provide an electronic device, including: a processor, a memory, and a bus; the processor and the memory communicate with each other via the bus; the memory stores computer program instructions executable by the processor, and the processor can execute the coherent accumulation method of signals as described in the first aspect or the signal acquisition method as described in the second aspect by calling the computer program instructions.

[0019] In a sixth aspect, embodiments of this application provide a computer-readable storage medium storing computer program instructions. When the computer program instructions are executed by a computer, the computer performs a coherent accumulation method for signals as described in the first aspect or a signal acquisition method as described in the second aspect.

[0020] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, embodiments of this application are described below in detail with reference to the accompanying drawings. Attached Figure Description

[0021] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 A flowchart illustrating a coherent accumulation method for a signal, as provided in this application embodiment;

[0023] Figure 2 A flowchart illustrating a signal acquisition method provided in this application embodiment;

[0024] Figure 3 A structural block diagram of a coherent accumulation device for a signal provided in an embodiment of this application;

[0025] Figure 4 A structural block diagram of a signal acquisition device provided in an embodiment of this application;

[0026] Figure 5 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0027] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0028] Please refer to Figure 1 , Figure 1The flowchart below illustrates a method for coherent accumulation of a signal, as provided in this application embodiment. This method may include the following steps:

[0029] Step S101: Read the data to be accumulated according to the parallel start address.

[0030] Step S102: Perform parallel accumulation and coherent accumulation on the data to be accumulated until the number of coherent accumulations reaches the coherent accumulation set value and the transform domain input count value reaches the transform domain input set value, and obtain the coherent accumulation result.

[0031] Step S103: Determine whether the length of the coherent accumulation result has reached the set length of the coherent accumulation.

[0032] Step S104: If the length of the coherent accumulation result reaches the coherent accumulation set length, update the parallel start address.

[0033] Specifically, coherent accumulation is an effective method for acquiring satellite signals under low signal strength conditions; through coherent accumulation, a rough estimate of the Doppler and code phase of the satellite signal can be obtained.

[0034] It is understood that before executing the coherent accumulation method for the signal provided in this application embodiment, the modulated signal can be preprocessed to obtain the data to be accumulated in this application embodiment. For example, the modulated data with different sampling rates can first be reduced to two or four times the code clock rate and weighted to a smaller bit width to obtain the data obtained after preprocessing the modulated signal; then, different pseudocodes for different satellite navigation systems are generated to obtain pseudocode data; finally, by combining the data obtained after preprocessing the modulated signal and the pseudocode data, the data to be accumulated can be obtained.

[0035] In step S101 above, the parallel start position refers to the data position where the accumulation begins, i.e. the starting data phase; by reading the data according to the above parallel start address, the data to be accumulated can be obtained.

[0036] In step S102 above, parallel accumulation of the data to be accumulated refers to using a parallel structure to accumulate the data, thereby increasing the calculation speed of the accumulation. It should be noted that the embodiments of this application do not specifically limit the specific implementation of the above parallel structure. Those skilled in the art can make appropriate adjustments according to the actual situation. For example, the parallel structure may include a parallel accumulator.

[0037] Coherent accumulation of data refers to using the result of parallel accumulation as input for coherent accumulation, and then performing further coherent accumulation on the result of parallel accumulation.

[0038] When coherent accumulation is performed once, the coherent accumulation count is incremented by one; when the coherent accumulation count reaches the coherent accumulation set value, the transform domain input count value is incremented by one; the above process is repeated until the coherent accumulation count reaches the coherent accumulation set value and the transform domain input count value reaches the transform domain input set value, and the coherent accumulation result can be obtained.

[0039] It should be noted that the embodiments of this application do not impose specific limitations on the specific implementation of the above-mentioned coherent accumulation setting value and transform domain input setting value, and those skilled in the art can make appropriate adjustments in combination with the actual situation.

[0040] Furthermore, the embodiments of this application do not impose specific limitations on the specific implementation methods of the above-mentioned parallel accumulation and coherent accumulation, and those skilled in the art can make appropriate adjustments in conjunction with the prior art.

[0041] In one implementation, step S102 can be implemented using the following structure: a parallel addition unit, a coherent accumulation unit, a coherent accumulation counting unit, and a transform domain input counting unit. The parallel addition unit performs parallel accumulation on the data to be accumulated to obtain a parallel accumulation result; the coherent accumulation unit performs coherent accumulation on the parallel accumulation result to obtain a coherent accumulation result.

[0042] The coherent accumulation counting unit is used to count the number of coherent accumulations; when a coherent accumulation is performed, the coherent accumulation count is incremented by one; when the coherent accumulation count reaches the coherent accumulation set value, the coherent accumulation count is cleared to zero and the counting starts again.

[0043] The transform domain input counting unit can form a set of progressive counters with the coherent accumulator counting unit. That is, after the number of coherent accumulators reaches the coherent accumulator set value, the result is carried over to the transform domain input counting unit. The transform domain input counting unit completes one increment operation until the set transform domain input set value is reached.

[0044] In step S103 above, after completing the parallel accumulation and coherent accumulation process, it can be further determined whether the length of the coherent accumulation result reaches the set length of coherent accumulation.

[0045] It should be noted that the embodiments of this application do not specifically limit the specific implementation of the length of the above coherent accumulation result. Those skilled in the art can make appropriate adjustments according to the actual situation. For example, the length of the coherent accumulation result can be the product of the number of parallel accumulations, the number of coherent accumulations, and the input count value of the transform domain; or, the length of the coherent accumulation result can be the sum of the number of parallel accumulations, the number of coherent accumulations, and the input count value of the transform domain, etc.

[0046] Furthermore, the specific implementation of the above-mentioned coherent accumulation setting length in this application embodiment is not specifically limited, and those skilled in the art can make appropriate adjustments based on the actual situation.

[0047] In step S104 above, if the length of the coherent accumulation result reaches the set length of the coherent accumulation, the parallel start address is updated. This is because the multiple of the parallel width of the parallel addition unit is generally not aligned with the length of the pseudocode period. Therefore, it is necessary to update the parallel start address to ensure that the start of each accumulation is aligned.

[0048] The methods for updating the parallel start address include advancing or backtracking the phase. Taking advancing as an example, the advance value and advance direction can be preset. When the length of the coherent accumulation result reaches the preset coherent accumulation length, the preset advance direction and advance value are fed back, and the phase alignment operation is completed based on the fed-back advance direction and advance value. When the length of the coherent accumulation result does not reach the preset coherent accumulation length, no advancing operation is performed.

[0049] Similarly, taking backtracking as an example, the backtracking value and backtracking direction can be preset. When the length of the coherent accumulation result reaches the preset length of coherent accumulation, the preset backtracking direction and backtracking value are fed back, and the phase alignment operation is completed based on the above-mentioned backtracking direction and backtracking value. When the length of the coherent accumulation result does not reach the preset length of coherent accumulation, the backtracking operation is not performed.

[0050] It should be noted that the specific implementation of step S104 will be described in detail in subsequent embodiments, and will not be described here.

[0051] In one implementation, step S104 can be achieved through the following structure: a data / pseudocode control unit and a forward / backward control unit. The data / pseudocode control unit determines whether the length of the coherent accumulation result has reached the coherent accumulation preset length, and updates the parallel start address when the length of the coherent accumulation result reaches the coherent accumulation preset length. The forward / backward control unit feeds back the update direction and update value of the parallel start address to the data / pseudocode control unit.

[0052] In the above scheme, by setting the coherent accumulation setpoint and the change domain input setpoint, the number of coherent accumulations can be counted. Thus, when the number of coherent accumulations reaches the coherent accumulation setpoint and the change domain input count reaches the change domain input setpoint, the corresponding coherent accumulation result can be obtained. At the same time, the length of the coherent accumulation result can be judged, and when the length of the coherent accumulation result reaches the coherent accumulation set length, the parallel start address is updated. This allows for adaptation to different scenarios and improves the flexibility of signal coherent accumulation.

[0053] Furthermore, based on the above embodiments, the coherent accumulation setting length is the product of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value.

[0054] Specifically, with a fixed coherent accumulation length, different Doppler frequency resolutions can be achieved by changing the set values ​​of the coherent accumulation and the transform domain input. For example, with a coherent accumulation length of 1024, assuming a parallel accumulation count of 32, a coherent accumulation count of 1, and a transform domain input count of 32, a frequency resolution of 500 Hz can be achieved; assuming a parallel accumulation count of 32, a coherent accumulation count of 2, and a transform domain input count of 16, a frequency resolution of 250 Hz can be achieved.

[0055] It is understood that, in this implementation, the length of the coherent accumulation result can be the product of the number of parallel accumulations, the number of coherent accumulations, and the transform domain input count value.

[0056] In the above scheme, by adjusting the values ​​of the parallel accumulation number, the coherent accumulation setting value, and the transform domain input setting value, the coherent accumulation length can be flexibly adjusted, and the frequency resolution can be configured and adjusted, thereby improving the flexibility of signal coherent accumulation.

[0057] Furthermore, based on the above embodiments, the coherent accumulation setting length is the sum of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value.

[0058] Specifically, similar to the above embodiments, with a fixed coherent accumulation setting length, different Doppler frequency resolutions can be achieved by changing the set coherent accumulation setting value and the transform domain input setting value. It is understood that in this implementation, the length of the coherent accumulation result can be the sum of the number of parallel accumulations, the number of coherent accumulations, and the transform domain input count value.

[0059] In the above scheme, by adjusting the values ​​of the parallel accumulation number, the coherent accumulation setting value, and the transform domain input setting value, the coherent accumulation length can be flexibly adjusted, and the frequency resolution can be configured and adjusted, thereby improving the flexibility of signal coherent accumulation.

[0060] Furthermore, based on the above embodiments, step S104 may specifically include the following steps:

[0061] If the period of the modulated signal is greater than the period of the pseudocode data, then the first set phase value is backtracked based on the coherent accumulation result as the updated parallel start position.

[0062] Specifically, if the period of the modulating signal is greater than the period of the pseudocode data, then the coherence length of the modulating signal is an integer multiple of the pseudocode period. For example, the period of the modulating signal is 2 milliseconds, and the period of the pseudocode data is 1 millisecond. Generally, the coherence length of the modulating signal is greater than the product of the pseudocode period and the number of coherent milliseconds. Therefore, backtracking can be performed, and the backtracking value can be set as the difference between the coherent accumulation setting length and the product of the number of phases corresponding to the pseudocode period and the number of coherent milliseconds, thereby achieving the coherent accumulation requirement of an integer multiple of the pseudocode period.

[0063] In the above scheme, when the period of the modulated signal is greater than the period of the pseudocode data, the parallel start position can be backtracked to ensure the alignment of the coherent start positions of the data and pseudocode each time. Therefore, the coherent accumulation method of the signal provided in this application embodiment can be applied to scenarios with low modulation information rate.

[0064] Furthermore, based on the above embodiments, step S104 may specifically include the following steps:

[0065] If the period of the modulated signal is less than the period of the pseudocode data, then advance the second set phase value based on the coherent accumulation result as the updated parallel start position.

[0066] Specifically, if the period of the modulating signal is less than the period of the pseudocode data, then the coherence length of the modulating signal is a fraction of the pseudocode period. For example, the period of the modulating signal is 0.5 milliseconds, and the period of the pseudocode data is 1 millisecond. Generally, the coherence length of the modulating signal is less than the pseudocode period. Therefore, forward propagation can be performed, and the forward value can be set as the difference between the number of phases corresponding to the pseudocode period and the coherence accumulation set length, thereby achieving the coherence accumulation requirement of a fraction of the pseudocode period.

[0067] In the above scheme, when the period of the modulated signal is less than the period of the pseudocode data, the alignment of the coherent start positions of the data and pseudocode can be ensured by advancing the parallel start position. Therefore, the coherent accumulation method of the signal provided in this application embodiment can be applied to scenarios with high modulation information rates.

[0068] Furthermore, based on the above embodiments, after step S104, the coherent accumulation method for signals provided in this application embodiment may further include the following steps:

[0069] Step 1) Perform change domain processing on the coherent accumulation result to obtain the corresponding processing result.

[0070] Step 2) Perform incoherent accumulation on the processing results to obtain the incoherent accumulation result.

[0071] Step 3) Determine whether the length of the incoherent accumulation result has reached the set length of the total integral.

[0072] Step 4): If the length of the non-coherent accumulation result does not reach the total integral set length, then read the new data to be accumulated according to the updated parallel start address.

[0073] In the above scheme, after obtaining the coherent accumulation result, the coherent accumulation result can also be processed by the change domain and non-coherent accumulation; by judging whether the length of the non-coherent accumulation result has reached the set length of the total integral, it is determined whether to continue accumulation.

[0074] Furthermore, based on the above embodiments, another method for coherent accumulation of signals provided in this application may include the following steps:

[0075] Step 1): Read the data to be accumulated based on the parallel start address.

[0076] Step 2) Perform parallel accumulation and coherent accumulation on the data to be accumulated. Each time coherent accumulation is performed, the coherent accumulation count is incremented by one.

[0077] Step 3): When the coherent accumulation count reaches the coherent accumulation set value, the input count value of the transform domain is incremented by one and the coherent accumulation count is cleared.

[0078] Repeat steps 2) and 3) until the number of coherent accumulations reaches the coherent accumulation set value and the transform domain input count value reaches the transform domain input set value, and obtain the coherent accumulation result.

[0079] Step 4) Determine whether the length of the coherent accumulation result has reached the set length of the coherent accumulation.

[0080] Step 5): If the length of the coherent accumulation result reaches the coherent accumulation set length, update the parallel start address.

[0081] Step 6) Perform change domain processing on the coherent accumulation result to obtain the corresponding processing result.

[0082] Step 7) Perform incoherent accumulation on the processing results to obtain the incoherent accumulation result.

[0083] Step 8) Determine whether the length of the incoherent accumulation result has reached the set length of the total integral.

[0084] Step 9): If the length of the non-coherent accumulation result does not reach the total integral set length, then read the new data to be accumulated according to the updated parallel start address.

[0085] Repeat steps 1)-9) until the length of the incoherent accumulation result reaches the set length of the total integral.

[0086] In the above scheme, while covering coherent lengths that are integer multiples of the pseudo-code period (i.e., the coherent length of the modulated signal is an integer multiple of the pseudo-code period), it can also take into account the coherent accumulation requirements that are fractional multiples of the pseudo-code period (i.e., the coherent length of the modulated signal is a fractional multiple of the pseudo-code period). Moreover, the two scenarios mentioned above are flexibly configurable. In addition, segmented coherent accumulation can meet the need for flexible adjustment of different Doppler frequency resolutions.

[0087] For example, when the coherence length of the modulated signal is an integer multiple of the pseudo-code period, the coherence length of the modulated signal is greater than the product of the pseudo-code period and the number of coherent milliseconds. In this case, backtracking can be performed and the backtracking value can be set as the difference between the coherence accumulation setting length and the product of the number of phases corresponding to the pseudo-code period and the number of coherent milliseconds, thereby achieving the coherence accumulation requirement of an integer multiple of the pseudo-code period. When the coherence length of the modulated signal is a fractional multiple of the pseudo-code period, the coherence length of the modulated signal is less than the pseudo-code period. In this case, forwarding can be performed and the forward value can be set as the difference between the number of phases corresponding to the pseudo-code period and the coherence accumulation setting length, thereby achieving the coherence accumulation requirement of a fractional multiple of the pseudo-code period.

[0088] More specifically, the data / pseudocode control unit can handle both forward and backtracking modes, and can align the coherence starting positions of the data and pseudocode based on the feedback direction and value, ensuring alignment of the coherence starting positions each time; the data / pseudocode control unit can set different search ranges and can realize relative movement of the data and pseudocode; the forward / backtracking control unit can calculate the total coherence length and compare it with the calculated cumulative value, realizing the feedback of movement direction and movement value to the data / pseudocode control unit after specifying the coherence length.

[0089] Please refer to Figure 2 , Figure 2 A flowchart of a signal acquisition method provided in this application embodiment, the signal acquisition method may include the following steps:

[0090] Step S201: Acquire the modulation signal and multiple pseudocode data.

[0091] Step S202: Perform data preprocessing on the modulated signal to obtain the preprocessed data.

[0092] Step S203: Perform a coherent accumulation method for the signal as described in any of the first aspects on the preprocessed data and the pseudocode data to obtain the signal acquisition result.

[0093] Step S204: Report the signal capture result.

[0094] Specifically, in step S201 above, the embodiments of this application do not specifically limit the specific implementation of acquiring the modulation signal and pseudocode data. Those skilled in the art can make appropriate adjustments according to the actual situation. For example, the modulation signal and pseudocode data sent by an external device can be received; or the modulation signal and pseudocode data stored in the cloud or locally can be read, etc.

[0095] Among them, multiple pseudocode data may include different pseudocodes corresponding to different satellite navigation systems.

[0096] In step S202 above, the modulated signal can be preprocessed to obtain preprocessed data. For example, modulated signals with different sampling rates can be reduced to two or four times the code clock rate and weighted to a smaller bit width to obtain the preprocessed data.

[0097] In step S203 above, after determining the starting phase of the data, if the coherent accumulation set length is not reached during the accumulation process, it can be regarded as single-cycle control. The data and pseudocode matching the bit width of the parallel addition unit are loaded into the parallel addition unit to prepare the input data. If the coherent accumulation set length is reached during the accumulation process, it can be regarded as multi-cycle control. According to the feedback forward or backward control information, the data, pseudocode, secondary code (message), etc., are advanced or backward to the specified phase to achieve phase adjustment and alignment. After completing the above accumulation process, if the total integral set length (including coherent and incoherent lengths) is reached, the starting phase of the data and pseudocode is adjusted, and the above process continues until the search range is fully covered, that is, the acquisition process ends, and the signal acquisition result can be reported.

[0098] In the above scheme, by setting a coherent accumulation setpoint and a change domain input setpoint, the number of coherent accumulations can be counted. Thus, when the number of coherent accumulations reaches the coherent accumulation setpoint and the change domain input count reaches the change domain input setpoint, the corresponding coherent accumulation result can be obtained. At the same time, the length of the coherent accumulation result can be judged, and when the length of the coherent accumulation result reaches the coherent accumulation setpoint, the parallel start address is updated. This allows for adaptation to different scenarios and improves the flexibility in the process of capturing navigation signals.

[0099] Please refer to Figure 3 , Figure 3 This application provides a structural block diagram of a coherent accumulation device for a signal. The coherent accumulation device 300 includes: a first reading module 301, used to read data to be accumulated according to a parallel start address; wherein the data to be accumulated includes data obtained after preprocessing a modulated signal and pseudocode data; a first accumulation module 302, used to perform parallel accumulation and coherent accumulation on the data to be accumulated until the number of coherent accumulations reaches a coherent accumulation set value and the transform domain input count value reaches a transform domain input set value, thereby obtaining a coherent accumulation result; wherein whenever the number of coherent accumulations reaches the coherent accumulation set value, the transform domain input count value is incremented by one; a first judgment module 303, used to judge whether the length of the coherent accumulation result reaches the coherent accumulation set length; and an update module 304, used to update the parallel start address if the length of the coherent accumulation result reaches the coherent accumulation set length.

[0100] In the above scheme, by setting the coherent accumulation setpoint and the change domain input setpoint, the number of coherent accumulations can be counted. Thus, when the number of coherent accumulations reaches the coherent accumulation setpoint and the change domain input count reaches the change domain input setpoint, the corresponding coherent accumulation result can be obtained. At the same time, the length of the coherent accumulation result can be judged, and when the length of the coherent accumulation result reaches the coherent accumulation set length, the parallel start address is updated. This allows for adaptation to different scenarios and improves the flexibility of signal coherent accumulation.

[0101] Furthermore, based on the above embodiments, the coherent accumulation setting length is the product of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value; or, the coherent accumulation setting length is the sum of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value.

[0102] In the above scheme, by adjusting the values ​​of the parallel accumulation number, the coherent accumulation setting value, and the transform domain input setting value, the coherent accumulation length can be flexibly adjusted, and the frequency resolution can be configured and adjusted, thereby improving the flexibility of signal coherent accumulation.

[0103] Furthermore, based on the above embodiments, the update module 304 is specifically used to: if the period of the modulation signal is greater than the period of the pseudocode data, then backtrack the first set phase value based on the coherent accumulation result as the updated parallel start position.

[0104] In the above scheme, when the period of the modulated signal is greater than the period of the pseudocode data, the parallel start position can be backtracked to ensure the alignment of the coherent start positions of the data and pseudocode each time. Therefore, the coherent accumulation method of the signal provided in this application embodiment can be applied to scenarios with low modulation information rate.

[0105] Furthermore, based on the above embodiments, the update module 304 is specifically used to: if the period of the modulation signal is less than the period of the pseudocode data, advance a second set phase value based on the coherent accumulation result as the updated parallel start position.

[0106] In the above scheme, when the period of the modulated signal is less than the period of the pseudocode data, the alignment of the coherent start positions of the data and pseudocode can be ensured by advancing the parallel start position. Therefore, the coherent accumulation method of the signal provided in this application embodiment can be applied to scenarios with high modulation information rates.

[0107] Furthermore, based on the above embodiments, the coherent accumulation device 300 for the signal further includes: a processing module, used to perform change domain processing on the coherent accumulation result to obtain a corresponding processing result; a second accumulation module, used to perform incoherent accumulation on the processing result to obtain an incoherent accumulation result; a second judgment module, used to determine whether the length of the incoherent accumulation result reaches the total integration set length; and a second reading module, used to read new data to be accumulated according to the updated parallel start address if the length of the incoherent accumulation result does not reach the total integration set length.

[0108] In the above scheme, after obtaining the coherent accumulation result, the coherent accumulation result can also be processed by the change domain and non-coherent accumulation; by judging whether the length of the non-coherent accumulation result has reached the set length of the total integral, it is determined whether to continue accumulation.

[0109] Please refer to Figure 4 , Figure 4The present application provides a structural block diagram of a signal acquisition device 400, which includes: an acquisition module 401 for acquiring a modulated signal and multiple pseudocode data; a preprocessing module 402 for performing data preprocessing on the modulated signal to obtain preprocessed data; a acquisition module 403 for performing a coherent accumulation method as described in any of the first aspects on the preprocessed data and the pseudocode data to obtain a signal acquisition result; and a reporting module 404 for reporting the signal acquisition result.

[0110] In the above scheme, by setting a coherent accumulation setpoint and a change domain input setpoint, the number of coherent accumulations can be counted. Thus, when the number of coherent accumulations reaches the coherent accumulation setpoint and the change domain input count reaches the change domain input setpoint, the corresponding coherent accumulation result can be obtained. At the same time, the length of the coherent accumulation result can be judged, and when the length of the coherent accumulation result reaches the coherent accumulation setpoint, the parallel start address is updated. This allows for adaptation to different scenarios and improves the flexibility in the process of capturing navigation signals.

[0111] Please refer to Figure 5 , Figure 5 This application provides a structural block diagram of an electronic device 500, which includes at least one processor 501, at least one communication interface 502, at least one memory 503, and at least one communication bus 504. The communication bus 504 enables direct communication between these components, the communication interface 502 facilitates signaling or data communication with other node devices, and the memory 503 stores machine-readable instructions executable by the processor 501. When the electronic device 500 is running, the processor 501 communicates with the memory 503 via the communication bus 504. When the machine-readable instructions are invoked by the processor 501, they execute the aforementioned coherent signal accumulation method or signal capture method.

[0112] For example, the processor 501 in this embodiment of the application can read a computer program from the memory 503 via the communication bus 504 and execute the computer program to implement the following method: Step S101: Read the data to be accumulated according to the parallel start address. Step S102: Perform parallel accumulation and coherent accumulation on the data to be accumulated until the number of coherent accumulations reaches the coherent accumulation set value and the transform domain input count value reaches the transform domain input set value, and obtain the coherent accumulation result. Step S103: Determine whether the length of the coherent accumulation result reaches the coherent accumulation set length. Step S104: If the length of the coherent accumulation result reaches the coherent accumulation set length, update the parallel start address. Alternatively, the following method can be implemented: Step S201: Acquire the modulation signal and multiple pseudocode data. Step S202: Perform data preprocessing on the modulation signal to obtain preprocessed data. Step S203: Perform the coherent accumulation method of the signal as described in any of the first aspects on the preprocessed data and the pseudocode data to obtain the signal acquisition result. Step S204: Report the signal capture result.

[0113] The processor 501 comprises one or more, and can be an integrated circuit chip with signal processing capabilities. The processor 501 can be a general-purpose processor, including a Central Processing Unit (CPU), a Microcontroller Unit (MCU), a Network Processor (NP), or other conventional processors; it can also be a special-purpose processor, including a Neural-network Processing Unit (NPU), a Graphics Processing Unit (GPU), a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. Furthermore, when there are multiple processors 501, some can be general-purpose processors, and others can be special-purpose processors.

[0114] The memory 503 includes one or more, which may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc.

[0115] Understandable. Figure 5 The structure shown is for illustrative purposes only; the electronic device 500 may also include components that are more advanced than those shown. Figure 5 The more or fewer components shown, or having the same Figure 5 The different configurations shown. Figure 5 The components shown can be implemented using hardware, software, or a combination thereof. In the embodiments of this application, electronic device 500 can be, but is not limited to, physical devices such as desktop computers, laptops, smartphones, smart wearable devices, and in-vehicle devices, or virtual devices such as virtual machines. Furthermore, electronic device 500 is not necessarily a single device; it can be a combination of multiple devices, such as a server cluster, etc.

[0116] This application also provides a computer-readable storage medium that stores computer program instructions. When the computer program instructions are executed by a computer, the computer performs the coherent accumulation method or signal capture method for signals described in the foregoing method embodiments.

[0117] In the embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Additionally, the displayed or discussed mutual couplings, direct couplings, or communication connections may be through some communication interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0118] Furthermore, the units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0119] Furthermore, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0120] It should be noted that if the function is implemented as a software module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0121] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0122] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for coherent accumulation of signals, characterized in that, include: The data to be accumulated is read according to the parallel start address; wherein, the data to be accumulated includes data obtained after preprocessing the modulated signal and pseudocode data; The data to be accumulated is subjected to parallel accumulation and coherent accumulation until the number of coherent accumulations reaches the coherent accumulation set value and the transform domain input count value reaches the transform domain input set value, thereby obtaining the coherent accumulation result; wherein, whenever the number of coherent accumulations reaches the coherent accumulation set value, the transform domain input count value is incremented by one; Determine whether the length of the coherent accumulation result has reached the set length for coherent accumulation; If the length of the coherent accumulation result reaches the set length of the coherent accumulation, the parallel start address is updated.

2. The coherent accumulation method for signals according to claim 1, characterized in that, The coherent accumulation setting length is the product of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value; or, The coherent accumulation setting length is the sum of the number of parallel accumulations, the coherent accumulation setting value, and the transform domain input setting value.

3. The coherent accumulation method for signals according to claim 1, characterized in that, The update of the parallel start address includes: If the period of the modulated signal is greater than the period of the pseudocode data, then based on the coherent accumulation result, the first set phase value is backtracked as the updated parallel start position.

4. The coherent accumulation method for signals according to claim 1, characterized in that, The update of the parallel start address includes: If the period of the modulation signal is less than the period of the pseudocode data, then a second preset phase value is advanced based on the coherent accumulation result as the updated parallel start position.

5. The coherent accumulation method for signals according to any one of claims 1-4, characterized in that, After updating the parallel start address, the method further includes: The coherent accumulation result is subjected to change domain processing to obtain the corresponding processing result; The processing results are then incoherently accumulated to obtain an incoherent accumulation result. Determine whether the length of the incoherent accumulation result reaches the set length of the total integral; If the length of the incoherent accumulation result does not reach the total integral set length, then new data to be accumulated is read according to the updated parallel start address.

6. A signal acquisition method, characterized in that, include: Acquire the modulated signal and multiple pseudocode data; The modulated signal is preprocessed to obtain preprocessed data; The coherent accumulation method of the signal as described in any one of claims 1-5 is performed on the preprocessed data and the pseudocode data to obtain the signal acquisition result; Report the signal capture results.

7. A coherent accumulation device for a signal, characterized in that, include: The first reading module is used to read the data to be accumulated according to the parallel start address; wherein, the data to be accumulated includes data obtained after preprocessing the modulated signal and pseudocode data; The first accumulation module is used to perform parallel accumulation and coherent accumulation on the data to be accumulated until the number of coherent accumulations reaches the coherent accumulation set value and the transform domain input count value reaches the transform domain input set value, thereby obtaining the coherent accumulation result; wherein, whenever the number of coherent accumulations reaches the coherent accumulation set value, the transform domain input count value is incremented by one. The first judgment module is used to determine whether the length of the coherent accumulation result has reached the coherent accumulation set length; The update module is used to update the parallel start address if the length of the coherent accumulation result reaches the coherent accumulation set length.

8. A signal acquisition device, characterized in that, include: The acquisition module is used to acquire the modulated signal and multiple pseudocode data. The preprocessing module is used to perform data preprocessing on the modulated signal to obtain preprocessed data; The capture module is used to perform the coherent accumulation method of the signal as described in any one of claims 1-5 on the preprocessed data and the pseudocode data to obtain the signal capture result; The reporting module is used to report the signal capture results.

9. An electronic device, characterized in that, include: Processor, memory, and bus; The processor and the memory communicate with each other via the bus; The memory stores computer program instructions that can be executed by the processor. The processor can invoke the computer program instructions to perform the coherent accumulation method of the signal as described in any one of claims 1-5 or the signal acquisition method as described in claim 6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions, which, when executed by a computer, cause the computer to perform the coherent accumulation method of a signal as described in any one of claims 1-5 or the signal acquisition method as described in claim 6.

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